#pragma once
#include <ros/ros.h>
#include "yaml-cpp/yaml.h"

class Global_Smoother_Parameters
{
public:
  YAML::Node common_config;

  double smoother_paths_lateral_devistion;   // 平滑之后的路线偏移原路线的最大距离
  // 路线平滑权重
  double weight_fem_pos_deviation;
  double weight_ref_deviation;
  double weight_path_length;
  int max_iter;  // osqp settings 最大迭代值

public:
  Global_Smoother_Parameters();
  ~Global_Smoother_Parameters();
};
